Siemens SINAMICS S120 Function Manual page 543

If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are
accepted immediately. Otherwise the values are only accepted when there is a positive edge
at binector input p2650.
Note
Continuous acceptance p2649 = 1 can only be set with free telegram configuration
p0922 = 999. No relative positioning is allowed with continuous acceptance.
The positioning direction can be specified using p2651 (positive direction specification) and
p2652 (negative direction specification). If both inputs have the same status, the shortest
distance is traveled during absolute positioning (p2648 = "1") of modulo axes (p2577 = "1").
To use the positioning function, the drive must be in the "Operation" state (r0002 = 0). The
following options are available for starting positioning:
● p2649 is "1" and positive edge on p2647
● p2649 is "0" and p2647 is "1"
– Positive edge on p2650 or
– Positive edge on p2649
An overview of the setpoint transfer / direct setpoint specification can be found in the function
diagram 3620 (see SINAMICS S120/S150 List Manual).
Features
● Select direct setpoint specification (p2647)
● Select positioning type (p2648)
● Direction selection (p2651, p2652)
● Setting-up (p2653)
● Fixed setpoints
– CO: Position setpoint (p2690)
– CO: Velocity setpoint (p2691)
– CO: Acceleration override (p2692)
– CO: Deceleration override (p2693)
● Connector inputs
– CI: MDI position setpoint (p2642)
– CI: MDI velocity setpoint (p2643)
– CI: MDI acceleration override (p2644)
– CI: MDI deceleration override (p2645)
– CI: Velocity override (p2646)
● Accept (p2649, p2650)
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Function modules
8.8 Basic positioner
543